CN201721620U - Spatial intelligent air bearing platform - Google Patents
Spatial intelligent air bearing platform Download PDFInfo
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- CN201721620U CN201721620U CN2010202969375U CN201020296937U CN201721620U CN 201721620 U CN201721620 U CN 201721620U CN 2010202969375 U CN2010202969375 U CN 2010202969375U CN 201020296937 U CN201020296937 U CN 201020296937U CN 201721620 U CN201721620 U CN 201721620U
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- intelligent
- following car
- pillar stiffener
- chassis
- support platform
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Abstract
The utility model provides a spatial intelligent air bearing platform, which mainly consists of an intelligent following car, a small vehicle-mounted air bearing platform and a gravity balance system, wherein, the gravity balance system is positioned on the intelligent following car and the small vehicle-mounted air bearing platform is connected with the gravity balance system. The intelligent following car realizes the intelligent following in plane motion, the gravity balance system realizes the following in the vertical direction motion and the joint action of the intelligent following car and the gravity balance system finally realizes the intelligent following of the experimented mechanism in three-dimensional space motion, which not only satisfies the dynamics environmental requirements for the ground-based laboratory to simulate the outer space, but also do not bring excessive additional forces and additional moments in a deployable mechanism, thus effectively ensuring the precision and accuracy of ground experiments.
Description
Technical field
The utility model relates to a kind of space intelligent and follows air floating table, and concrete is the air floating table that a kind of three dimensional space intelligence is followed function, belongs to the space flight mechanical structure field.
Background technology
Along with the continuous development of space technology, the application of large-scale development mechanisms such as large-sized solar windsurfing and large-scale extending arm more and more widely.Under the condition of ground experiment chamber, for the mechanical environment in accurate simulation outer space and by test article at the rail state of kinematic motion, generally it is floated the influence of balancing gravity by pressurized air.But, often exist size big for this type of large-scale development mechanism, the characteristics of complicated movement.In order to satisfy the expansion needs of this class development mechanism, large-scale air floating platform size must be enough big, often need the small-sized platform of polylith to be assemblied to form, this has all proposed harsh technical requirements to flat-bed processing and installation, and be easy to generate catching phenomenon at adjacent two small-sized flat-bed seams, influence the proper motion of tested mechanism.In addition, in order to satisfy the needs of large scale development mechanism compound movement, the general complex structure of its servo-actuated frock, quality is excessive, sometimes even be more than the several times of development mechanism sole mass, this will inevitably introduce bigger subsidiary load and additional moment to development mechanism, has a strong impact on the precision and the accuracy of test.
The utility model content
The utility model provides a kind of space intelligent to follow air floating table, be applicable to large-scale development mechanism, and spatially intelligence is followed the motion of development mechanism, thereby balance is tested the gravity of mechanism, both satisfied requirement at simulation outer space, ground experiment chamber mechanical environment, can not introduce too much subsidiary load and additional moment again, effectively guarantee the precision and the accuracy of ground experiment development mechanism.
The related space intelligent of the utility model is followed air floating table and is comprised intelligent Following Car, vehicle-mounted small-sized air floating table and gravity balance device; Wherein intelligent Following Car comprises chassis, driving wheel, universal flower wheel, motor, transmission device and controller, vehicle-mounted small-sized air floating table comprises support platform, the gentle source component of erecting stage, and gravity balance device comprises pillar stiffener, linear guides, assembly pulley and counterweight; Its whole annexation is: top, chassis installation and control device, motor and transmission device, motor and transmission device are used for the driving wheel of drive installation below the chassis and drive two universal flower wheels, top, a chassis side relative with driving wheel is equipped with the pillar stiffener of two symmetries, there is the linear guides vertical with the chassis pillar stiffener inboard, the pillar stiffener top is equipped with assembly pulley, a pair of slide block matches with the linear guides of pillar stiffener, steel rope one end on the assembly pulley connects slide block, the other end connects the counterweight at the pillar stiffener back side, support platform is captiveed joint with the slide block upper surface, the high pressure gas that erecting stage is provided by the source of the gas assembly swim in support platform directly over, position transduser all is installed on the opposite face of support platform and erecting stage.
The intelligence Following Car can also adopt rail intelligence Following Car, and rail intelligence Following Car moves according to planned orbit.
The utility model working process is as follows: tested mechanism and directly or by frock link to each other with erecting stage, erecting stage swims on the support platform under the effect of high pressure gas, and erecting stage together moves with it under by the drive of test mechanism.When the erecting stage horizontal motion, erecting stage and support platform produce the relative position error, this error of position sensor feedback is given intelligent Following Car controller, intelligence Following Car controller is controlled the driven by motor transmission device motion of intelligent Following Car according to this error amount, thereby drive intelligent Following Car to the direction motion that reduces this error amount, realize following by test mechanism's horizontal motion.When the motion of erecting stage vertical direction, the gravitational equilibrium of gravitational equilibrium system assembly pulley both sides is destroyed, counterweight moves up and down by the linear guides of steel rope pulling slide block along pillar stiffener, therefore support platform is followed the erecting stage up-and-down movement, thereby realizes following by test mechanism's vertical direction motion; To being waited following of other space motions by of the realization that cooperates of vehicle-mounted small-sized air floating table with frock by the upset of test mechanism.
Beneficial effect
1. the combined action of the utility model by intelligent Following Car and gravitational equilibrium system realized that vehicle-mounted small-sized air floating table follows the space intelligent of large-scale development mechanism motion, both realized at simulation outer space, ground experiment chamber mechanical environment, can not introduce too much subsidiary load and additional moment again, effectively guarantee the precision and the accuracy of ground experiment development mechanism.
2. the utility model has been avoided the processing and the installation of large-scale air floating platform, has effectively reduced technical risk and productive costs.
Description of drawings
The structural representation of Fig. 1-the utility model embodiment.
The 1-chassis, 2-driving wheel, 3-motor, 4-transmission device, the universal flower wheel of 5-, 6-controller, 7-support platform, 8-position transduser, 9-erecting stage, 10-linear guides, 11-steel rope, 12-assembly pulley, 13-counterweight, 14-pillar stiffener.
The specific embodiment
As shown in Figure 1, present embodiment comprises chassis 1, driving wheel 2, motor 3, transmission device 4, universal flower wheel 5, controller 6, support platform 7, position transduser 8, erecting stage 9, linear guides 10, steel rope 11, assembly pulley 12, counterweight 13 and pillar stiffener 14; Wherein chassis 1, driving wheel 2, motor 3, transmission device 4, universal flower wheel 5, controller 6 and position transduser 8 constitute intelligent Following Car, support platform 7, erecting stage 9 gentle source component (not shown)s are formed small-sized air floating table system, and linear guides 10, steel rope 11, assembly pulley 12, counterweight 13 and pillar stiffener 14 are formed the gravitational equilibrium systems.
In the present embodiment, chassis 1 top installation and control device 6, motor 3 and transmission device 4, motor 3 and transmission device 4 are used for the driving wheel 2 of drive installation below chassis 1 and drive two universal flower wheels 5,1 top, chassis and driving wheel 2 relative sides are installed with the pillar stiffener 14 of two symmetries, there is the linear guides 10 vertical with chassis 1 pillar stiffener 14 inboards, pillar stiffener 14 tops are equipped with assembly pulley 12, a pair of slide block matches with the linear guides 10 of pillar stiffener 14, steel rope 11 1 ends on the assembly pulley 12 connect slide block, the other end connects the counterweight 13 at pillar stiffener 14 back sides, support platform 7 is captiveed joint with the slide block upper surface, the high pressure gas that erecting stage 9 is provided by the source of the gas assembly swim in support platform 7 directly over, on the opposite face of support platform 7 and erecting stage 9 position transduser 8 is installed all.
The concrete working process of present embodiment is as follows: tested mechanism and directly or by frock link to each other with erecting stage 9, erecting stage 9 together moves with it under by the drive of test mechanism.When erecting stage 9 horizontal motion, erecting stage 9 produces the relative position error with support platform 7, position transduser 8 these errors of feedback are given intelligent Following Car controller 6, the motor 3 that intelligence Following Car controller 6 is controlled intelligent Following Car according to this error amount drives transmission device 4 motions, thereby drive intelligent Following Car to the direction motion that reduces this error amount, realize following by test mechanism's horizontal motion.When the motion of erecting stage 9 vertical directions, the gravitational equilibrium of gravitational equilibrium system assembly pulley 12 both sides is destroyed, counterweight 13 moves up and down by the linear guides 10 of steel rope 11 pulling slide blocks along pillar stiffener 14, therefore support platform 7 is followed erecting stage 9 up-and-down movements, thereby realizes following by test mechanism's vertical direction motion; To being waited following of other space motions by of the realization that cooperates of vehicle-mounted small-sized air floating table with frock by the upset of test mechanism.
Claims (2)
1. space intelligent is followed air floating table, comprises intelligent Following Car, vehicle-mounted small-sized air floating table and gravity balance device; Wherein intelligent Following Car comprises chassis (1), driving wheel (2), universal flower wheel (5), motor (3), transmission device (4) and controller (6), vehicle-mounted small-sized air floating table comprises support platform (7), the gentle source component of erecting stage (9), and gravity balance device comprises pillar stiffener (14), linear guides (10), assembly pulley (12) and counterweight (13); It is characterized in that top, chassis (1) installation and control device (6), motor (3) and transmission device (4), the driving wheel (2) that motor (3) and transmission device (4) are used for drive installation (1) below on the chassis drives two universal flower wheels (5), top, chassis (a 1) side relative with driving wheel (2) is installed with the pillar stiffener (14) of two symmetries, there is the linear guides (10) vertical with chassis (1) pillar stiffener (14) inboard, pillar stiffener (14) top is equipped with assembly pulley (12), a pair of slide block matches with the linear guides (10) of pillar stiffener (14), steel rope (11) one ends on the assembly pulley (12) connect slide block, the other end connects the counterweight (13) at pillar stiffener (14) back side, support platform (7) is captiveed joint with the slide block upper surface, the high pressure gas that erecting stage (9) is provided by the source of the gas assembly swim in support platform (7) directly over, on the opposite face of support platform (7) and erecting stage (9) position transduser (8) is installed all.
2. space intelligent as claimed in claim 1 is followed air floating table, it is characterized in that, intelligent Following Car can adopt rail intelligence Following Car, and rail intelligence Following Car moves according to planned orbit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202969375U CN201721620U (en) | 2010-08-19 | 2010-08-19 | Spatial intelligent air bearing platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202969375U CN201721620U (en) | 2010-08-19 | 2010-08-19 | Spatial intelligent air bearing platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201721620U true CN201721620U (en) | 2011-01-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010202969375U Expired - Lifetime CN201721620U (en) | 2010-08-19 | 2010-08-19 | Spatial intelligent air bearing platform |
Country Status (1)
| Country | Link |
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| CN (1) | CN201721620U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101936807A (en) * | 2010-08-19 | 2011-01-05 | 北京理工大学 | Spatial intelligent following floated platform |
| CN103511459A (en) * | 2013-10-18 | 2014-01-15 | 浙江工业大学 | Three-dimensional follow-up constant force hanging device |
-
2010
- 2010-08-19 CN CN2010202969375U patent/CN201721620U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101936807A (en) * | 2010-08-19 | 2011-01-05 | 北京理工大学 | Spatial intelligent following floated platform |
| CN103511459A (en) * | 2013-10-18 | 2014-01-15 | 浙江工业大学 | Three-dimensional follow-up constant force hanging device |
| CN103511459B (en) * | 2013-10-18 | 2015-12-23 | 浙江工业大学 | A kind of three-dimensional follow-up constant force erecting by overhang |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110126 Effective date of abandoning: 20120704 |